コード例 #1
0
inline void DebugPrint( const XSI::CString& str, const XSI::MATH::CQuaternion& q )
{
			Application app;
			wchar_t wszBuf[256]; 

			XSI::MATH::CQuaternion q = tGParent.GetRotationQuaternion();

			double x, y, z;
			
			q.GetXYZAnglesValues(x,y,z);

			swprintf( wszBuf, L"%s R(%f,%f,%f)]", (const wchar_t*)str, r2d(x),r2d(y),r2d(z) );
			app.LogMessage( (const wchar_t*)wszBuf ); 
}
コード例 #2
0
void CAxisInterpOp::ComputeWeights
( 
	XSI::MATH::CQuaternion& qbone2, 
	unsigned long size,			// number of triggers
	double* aweights, 
	double* atriggers, 
	double* atolerances 
)
{
	XSI::MATH::CQuaternion q2;

#ifdef _DEBUG_COMPUTEWEIGHTS
	Application app;
	wchar_t wszBuf[256]; 

	swprintf( wszBuf, L"ComputeWeights qbone2->[%f V(%f,%f,%f)]",  qbone2.GetW(), qbone2.GetX(), qbone2.GetY(), qbone2.GetZ() );
	app.LogMessage( (const wchar_t*)wszBuf ); 

	double x, y, z;
	
	qbone2.GetXYZAnglesValues(x,y,z);

	swprintf( wszBuf, L"ComputeWeights qbone2->R(%f,%f,%f)]",  r2d(x),r2d(y),r2d(z) );
	app.LogMessage( (const wchar_t*)wszBuf ); 
#endif

	// dim tsec : tsec = timer
	// fntrace "ComputeWeights("&j&") bone2 angle: " & fnstr(q2rot(qbone2))

	double sumw(0), weight(0), dot_product(0), tolerance(0);
	
	for ( unsigned long j=0,i=0; i < size*3; i=i+3,j=j+1 )
	{
		tolerance = d2r(atolerances[j]);
#ifdef _DEBUG_COMPUTEWEIGHTS
		swprintf( wszBuf, L"trigger(%d) ori: (%f,%f,%f)", j, atriggers[i], atriggers[i+1], atriggers[i+2] );
		app.LogMessage( (const wchar_t*)wszBuf ); 

		swprintf( wszBuf, L"trigger(%d) tolerance: %f", j, tolerance );
		app.LogMessage( (const wchar_t*)wszBuf ); 
#endif

		q2.SetFromXYZAnglesValues( d2r(atriggers[i]), d2r(atriggers[i+1]), d2r(atriggers[i+2]) );

		// compute dot product of quaternion
		dot_product = 
			qbone2.GetX() * q2.GetX() + 
			qbone2.GetY() * q2.GetY() + 
			qbone2.GetZ() * q2.GetZ() + 
			qbone2.GetW() * q2.GetW();
#ifdef _DEBUG_COMPUTEWEIGHTS
		swprintf( wszBuf, L"trigger(%d) dot: %f", j, dot_product );
		app.LogMessage( (const wchar_t*)wszBuf ); 
#endif

		if ( tolerance == 0 ) {
			weight = 0;
		} else {
#ifdef _DEBUG_COMPUTEWEIGHTS
//		swprintf( wszBuf, L"ComputeWeights(%d) _acos(%f) = %f", j, fabs(dot_product), _acos(fabs(dot_product)) );
//		app.LogMessage( (const wchar_t*)wszBuf ); 
		swprintf( wszBuf, L"trigger(%d) acos(%f) = %f", j, fabs(dot_product), acos(fabs(dot_product)) );
		app.LogMessage( (const wchar_t*)wszBuf ); 
#endif
			weight = 1.0 - (2.0 * acos(fabs(dot_product)) / tolerance);
#ifdef _DEBUG_COMPUTEWEIGHTS
		swprintf( wszBuf, L"trigger(%d) weight: %f", j, weight );
		app.LogMessage( (const wchar_t*)wszBuf ); 
#endif
			if ( weight < 0 ) {
				weight = 0;
			}
		}
#ifdef _DEBUG_COMPUTEWEIGHTS
		swprintf( wszBuf, L"trigger(%d) computed weight: %f", j, weight );
		app.LogMessage( (const wchar_t*)wszBuf ); 
#endif

		aweights[j] = weight;
		// fntrace "ComputeWeights("&j&") raw: " & aW(j)

		sumw=sumw+aweights[j];
	}

	// make sure sum of weights totals 1
	if ( sumw != 0 ) 
	{
		for ( unsigned long i=0; i < size; i++ )
		{
			if ( aweights[i] != 0 ) {
				aweights[i] = aweights[i] / sumw;
				//fntrace "ComputeWeights("&i&") normalized: " & aW(i)
			}  
#ifdef _DEBUG_COMPUTEWEIGHTS
			swprintf( wszBuf, L"trigger(%d) normalized = %f", i, aweights[i] );
			app.LogMessage( (const wchar_t*)wszBuf ); 
#endif
		}
	}
	//fntrace "AxisInterpOp::ComputeWeights: took " & timer-tsec & " seconds"

}
コード例 #3
0
XSI::CStatus CAxisInterpOp::Update
(
	UpdateContext&	ctx,
	OutputPort&	output
)
{
	Operator op(ctx.GetOperator());

	///////////////////////////////////////////////////////////////
	// get operator parameters
	///////////////////////////////////////////////////////////////

	XSI::CString triggers(op.GetParameterValue(L"Triggers"));

	// triggers changed
	if ( m_csTriggers != triggers )
	{
		m_csTriggers = triggers;

		Init( ctx, 0 );
	}

	double boneperc = op.GetParameterValue(L"BoneDist");

	///////////////////////////////////////////////////////////////
	// get objects connected to input & output ports
	///////////////////////////////////////////////////////////////
 
	InputPort rootboneport(op.GetPort(L"globalkineport",L"RootBoneGroup",0));
	InputPort parentboneport(op.GetPort(L"globalkineport",L"ParentBoneGroup",0));
	InputPort parentbonelenport(op.GetPort(L"bonelengthport",L"ParentBoneGroup",0));
	InputPort childboneport(op.GetPort(L"globalkineport",L"ChildBoneGroup",0));

	KinematicState gkRoot(rootboneport.GetValue());
	KinematicState gkParent(parentboneport.GetValue());
	double parentbonelen(parentbonelenport.GetValue());
	KinematicState gkChild(childboneport.GetValue());
	KinematicState gkHelper(output.GetValue());

	// GET TRANSFORMATIONS OF ROOT, PARENT & CHILD
	CTransformation tGRoot = gkRoot.GetTransform();
	CTransformation tGBone1 = gkParent.GetTransform();
	CTransformation tGBone2 = gkChild.GetTransform();

#ifdef _DEBUG_UPDATE
	{
		Application app;
		wchar_t wszBuf[256]; 

		XSI::MATH::CQuaternion q = tGBone1.GetRotationQuaternion();

		double x, y, z;
		
		q.GetXYZAnglesValues(x,y,z);

		swprintf( wszBuf, L"parent R(%f,%f,%f)]",  r2d(x),r2d(y),r2d(z) );
		app.LogMessage( (const wchar_t*)wszBuf ); 
	}
#endif
#ifdef _DEBUG_UPDATE
	{
		Application app;
		wchar_t wszBuf[256]; 

		XSI::MATH::CQuaternion q = tGBone2.GetRotationQuaternion();

		double x, y, z;
		
		q.GetXYZAnglesValues(x,y,z);

		swprintf( wszBuf, L"child R(%f,%f,%f)]",  r2d(x),r2d(y),r2d(z) );
		app.LogMessage( (const wchar_t*)wszBuf ); 
	}
#endif

	///////////////////////////////////////////////////////////////
	// perform update function
	///////////////////////////////////////////////////////////////
 
	// GET LOCAL TRANSFORM OF CHILD RELATIVE TO PARENT
	XSI::MATH::CMatrix3 mBone1( tGBone1.GetRotationMatrix3() );
	XSI::MATH::CMatrix3 mBone2( tGBone2.GetRotationMatrix3() );

#ifdef _DEBUG_UPDATE
	{
		Application app;
		wchar_t wszBuf[256]; 

		double m0, m1, m2, m3, m4, m5, m6, m7, m8;
		
		mBone1.Get(m0, m1, m2, m3, m4, m5, m6, m7, m8);

		swprintf( wszBuf, L"mBone1->\n%.2f,%.2f,%.2f\n%.2f,%.2f,%.2f\n%.2f,%.2f,%.2f", m0, m1, m2, m3, m4, m5, m6, m7, m8 );
			
		app.LogMessage( (const wchar_t*)wszBuf ); 
	}
#endif
#ifdef _DEBUG_UPDATE
	{
		Application app;
		wchar_t wszBuf[256]; 

		double m0, m1, m2, m3, m4, m5, m6, m7, m8;
		
		mBone2.Get(m0, m1, m2, m3, m4, m5, m6, m7, m8);

		swprintf( wszBuf, L"mBone2->\n%.2f,%.2f,%.2f\n%.2f,%.2f,%.2f\n%.2f,%.2f,%.2f", m0, m1, m2, m3, m4, m5, m6, m7, m8 );
			
		app.LogMessage( (const wchar_t*)wszBuf ); 
	}
#endif
	mBone1.TransposeInPlace();
#ifdef _DEBUG_UPDATE
	{
		Application app;
		wchar_t wszBuf[256]; 

		double m0, m1, m2, m3, m4, m5, m6, m7, m8;
		
		mBone1.Get(m0, m1, m2, m3, m4, m5, m6, m7, m8);

		swprintf( wszBuf, L"mBone1.TransposeInPlace->\n%.2f,%.2f,%.2f\n%.2f,%.2f,%.2f\n%.2f,%.2f,%.2f", m0, m1, m2, m3, m4, m5, m6, m7, m8 );
			
		app.LogMessage( (const wchar_t*)wszBuf ); 
	}
#endif

	XSI::MATH::CMatrix3  tmpMat3;

	for(int nR=0; nR<3; nR++)
		for(int nC=0; nC<3; nC++)
		{
			tmpMat3.SetValue(nR,nC , 
				mBone2.GetValue(nR,0) * mBone1.GetValue(0,nC) +
				mBone2.GetValue(nR,1) * mBone1.GetValue(1,nC) +
				mBone2.GetValue(nR,2) * mBone1.GetValue(2,nC) );
		}
	
	mBone2 = tmpMat3;

	// bug #90494
	// mBone2.MulInPlace( mBone1 );
#ifdef _DEBUG_UPDATE
	{
		Application app;
		wchar_t wszBuf[256]; 

		double m0, m1, m2, m3, m4, m5, m6, m7, m8;
		
		mBone2.Get(m0, m1, m2, m3, m4, m5, m6, m7, m8);

		swprintf( wszBuf, L"mBone2.MulInPlace( mBone1 )->\n%.2f,%.2f,%.2f\n%.2f,%.2f,%.2f\n%.2f,%.2f,%.2f", m0, m1, m2, m3, m4, m5, m6, m7, m8 );
			
		app.LogMessage( (const wchar_t*)wszBuf ); 
	}
#endif

	// GET ORIENTATION OF BONE2 RELATIVE TO BONE1 AS A QUATERNION
	XSI::MATH::CQuaternion qBone2 = mBone2.GetQuaternion();

	// MATCH QUATERNIONS
	XSI::MATH::CVector3 vBasePos(
		op.GetParameterValue(L"BasePoseX"), 
		op.GetParameterValue(L"BasePoseY"), 
		op.GetParameterValue(L"BasePoseZ") );
	
#ifdef _DEBUG_UPDATE
	{
		Application app;
		wchar_t wszBuf[256]; 

		double x, y, z;
		
		qBone2.GetXYZAnglesValues(x,y,z);

		swprintf( wszBuf, L"child2parent R(%f,%f,%f)]",  r2d(x),r2d(y),r2d(z) );
		app.LogMessage( (const wchar_t*)wszBuf ); 
	}
#endif

	ComputeBaseOffset(vBasePos, boneperc, parentbonelen );

	ComputeWeights( qBone2, m_cTriggers, m_aWeights, m_aTriggerOri, m_aTriggerTol );

	// SUM TARGET ORIENTATIONS & POSITIONS
	XSI::MATH::CQuaternion qNewOri;

	SumTargets( qNewOri, vBasePos, m_cTriggers, m_aWeights, m_aTargetOri, m_aTargetPos );	

#ifdef _DEBUG_UPDATE
	Application app;
	wchar_t wszBuf[256]; 

	double x, y, z;
	
	qNewOri.GetXYZAnglesValues(x,y,z);

	swprintf( wszBuf, L"qNewOri->R(%f,%f,%f)]",  r2d(x),r2d(y),r2d(z) );
	app.LogMessage( (const wchar_t*)wszBuf ); 
#endif

	// UPDATE TRANSFORMATION
	XSI::MATH::CTransformation tNewPose;

	tNewPose.SetRotationFromQuaternion( qNewOri );
	tNewPose.SetTranslation( vBasePos );
	tNewPose.MulInPlace( tGRoot );

	///////////////////////////////////////////////////////////////
	// update output port
	///////////////////////////////////////////////////////////////

	gkHelper.PutTransform( tNewPose );

	return CStatus::OK;
}